Abstract:We present an optimization-based approach for trajectory planning and control of a maneuverable melting probe with a high number of binary control variables. The dynamics of the system are modeled by a set of ordinary differential equations with a priori knowledge of system parameters of the melting process. The original planning problem is handled as an optimal control problem. Then, optimal control is used for reference trajectory planning as well as in an MPC-like algorithm. Finally, to determine binary con… Show more
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.